\begin{frame}[allowframebreaks]
         \frametitle{Bibliography}
         \bibliographystyle{plainnat}
         \bibliography{Bibliography}
\end{frame}

\begin{frame}[t,fragile]{\textbf{Allocation uniformity (3)}}
\vskip20pt
\begin{center}
\begin{small}
\begin{tabular}{l c c c c c c}
\toprule % Top horizontal line
Method & \multicolumn{6}{c}{Scenario} \\ % Amalgamating several columns into one cell is done using the \multicolumn command as seen on this line
\cmidrule(l){2-7} % Horizontal line spanning less than the full width of the table - you can add (r) or (l) just before the opening curly bracket to shorten the rule on the left or right side
& \multicolumn{2}{c}{Uniform} & \multicolumn{2}{c}{Biased} & \multicolumn{2}{c}{Corridor} \\ 
Statistic & Median & Range & Median & Range & Median & Range \\
\midrule
\midrule 
Naive & 20 & (12,20) & 20  & (9,20) & 19 & (6,20) \\ 
Probabilistic & 20 & (20,20) & 20 & (20,20) & 20 & (18,20) \\ 
Informed & 20 & (20,20) & 20 & (20,20) & 20 & (18,20) \\ 
\midrule 
\bottomrule 
\end{tabular}
\end{small}
\vskip15pt
\begin{footnotesize}
\emph{Summary of the values of the number of allocated robots $R(t)$ at $t=10000$ for a swarm of 20 \emph{e-pucks} with 25 available tasks.
Median values and corresponding ranges ($\min$,$\max$) are computed across 50 trials of 10000 time steps each.}
\end{footnotesize}
\end{center}
\end{frame}

\begin{frame}[t,fragile]{\textbf{Allocation speed - Uniform}}

\begin{minipage}{.47\textwidth}
\centering
\includegraphics[width=\textwidth,keepaspectratio]{{../Figures/A.25}.pdf}
\end{minipage}%
\hspace{0.15cm}
\begin{minipage}{.47\textwidth}
\centering
\includegraphics[width=\textwidth,keepaspectratio]{{../Figures/A.50}.pdf}
\end{minipage}
\vfill
\begin{scriptsize}
\emph{Empirical cumulative density functions for the allocation levels
$o_{25}$ (left) and $o_{50}$ (right) distributions of the three methods on the scenario Uniform on 50 trials of 1000 s (10000 simulation steps) each.
Each trial is performed with 20 robots and 25 available tasks.}
\end{scriptsize}
\end{frame}

\begin{frame}[t,fragile]{\textbf{Allocation speed - Biased}}
\begin{minipage}{.47\textwidth}
\centering
\includegraphics[width=\textwidth,keepaspectratio]{{../Figures/B.25}.pdf}
\end{minipage}%
\hspace{0.15cm}
\begin{minipage}{.47\textwidth}
\centering
\includegraphics[width=\textwidth,keepaspectratio]{{../Figures/B.50}.pdf}
\end{minipage}
\vfill
\begin{scriptsize}
\emph{Empirical cumulative density functions for the allocation levels
$o_{25}$ (left) and $o_{50}$ (right) distributions of the three methods on the scenario Biased on 50 trials of 1000 s (10000 simulation steps) each.
Each trial is performed with 20 robots and 25 available tasks.
}
\end{scriptsize}
\end{frame}


\begin{frame}[t,fragile]{\textbf{Allocation speed - Corridor}}
\begin{minipage}{.47\textwidth}
\centering
\includegraphics[width=\textwidth,keepaspectratio]{{../Figures/C.25}.pdf}
\end{minipage}%
\hspace{0.15cm}
\begin{minipage}{.47\textwidth}
\centering
\includegraphics[width=\textwidth,keepaspectratio]{{../Figures/C.50}.pdf}
\end{minipage}
\vfill
\begin{scriptsize}
\emph{Empirical cumulative density functions for the allocation levels
$o_{25}$ (left) and $o_{50}$ (right) distributions of the three methods on the scenario Corridor on 50 trials of 1000 s (10000 simulation steps) each.
Each trial is performed with 20 robots and 25 available tasks.
}
\end{scriptsize}
\end{frame}

\begin{frame}[t,fragile]{\textbf{Allocation speed - Uniform}}

\begin{minipage}{.47\textwidth}
\centering
\includegraphics[width=\textwidth,keepaspectratio]{{../Figures/A.Median}.pdf}
\end{minipage}%
\hspace{0.15cm}
\begin{minipage}{.47\textwidth}
\centering
\includegraphics[width=\textwidth,keepaspectratio]{{../Figures/A.Robots.Median}.pdf}
\end{minipage}
\vfill
\begin{scriptsize}
\emph{Median values for the maximum error across clusters $e_{\max}(t)$ (left) and
the number of allocated robots $R(t)$ (right) for each of the three methods
on the scenario Uniform on 50 trials of 1000 s (10000 simulation steps) each. 
Each trial is performed with 20 robots and 25 available tasks.}
\end{scriptsize}
\end{frame}


\begin{frame}[t,fragile]{\textbf{Allocation speed - Biased}}

\begin{minipage}{.47\textwidth}
\centering
\includegraphics[width=\textwidth,keepaspectratio]{{../Figures/B.Median}.pdf}
\end{minipage}%
\hspace{0.15cm}
\begin{minipage}{.47\textwidth}
\centering
\includegraphics[width=\textwidth,keepaspectratio]{{../Figures/B.Robots.Median}.pdf}
\end{minipage}
\vfill
\begin{scriptsize}
\emph{Median values for the maximum error across clusters $e_{\max}(t)$ (left) and
the number of allocated robots $R(t)$ (right) for each of the three methods
on the scenario Biased on 50 trials of 1000 s (10000 simulation steps) each. 
Each trial is performed with 20 robots and 25 available tasks.}
\end{scriptsize}
\end{frame}


\begin{frame}[t,fragile]{\textbf{Allocation speed - Corridor}}

\begin{minipage}{.47\textwidth}
\centering
\includegraphics[width=\textwidth,keepaspectratio]{{../Figures/C.Median}.pdf}
\end{minipage}%
\hspace{0.15cm}
\begin{minipage}{.47\textwidth}
\centering
\includegraphics[width=\textwidth,keepaspectratio]{{../Figures/C.Robots.Median}.pdf}
\end{minipage}
\vfill
\begin{scriptsize}
\emph{Median values for the maximum error across clusters $e_{\max}(t)$ and
the number of allocated robots $R(t)$ (right) for each of the three methods
on the scenario Corridor on 50 trials of 1000 s (10000 simulation steps) each. 
Each trial is performed with 20 robots and 25 available tasks.}
\end{scriptsize}
\end{frame}


\begin{frame}[t,fragile]{\textbf{Scenario difficulty 1}}
Test
\end{frame}

\begin{frame}[t,fragile]{\textbf{Scenario difficulty 2}}
Test
\end{frame}